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Autoware Open AD Kit Planning Simulation#

This sample deployment shows how to run Autoware Open AD Kit planning simulation.

Requirements#

In order to run the planning simulation, you need to have the planning simulation sample map. You can download it by running the following commands:

Sample Planning Map#

Download and unpack a planning simulation sample map that is used in this sample.

  • You can also download the map manually.
gdown -O ~/autoware_map/ 'https://docs.google.com/uc?export=download&id=1499_nsbUbIeturZaDj7jhUownh5fvXHd'
unzip -d ~/autoware_map ~/autoware_map/sample-map-planning.zip

Note: This sample map(Copyright 2020 TIER IV, Inc.) is only for demonstration purposes. You can use your own map by following the How-to Guide.

Run the Deployment#

  1. Start the deployment by running the following command:

    docker compose --env-file planning-simulation.env up -d

  2. Wait for the deployment to start for about 5 seconds and then open a browser to visualize the simulation and navigate to:

    http://localhost:6080/vnc.html

    Use the default password openadkit to access the visualizer. It can take a few seconds to visualizer to start.

    If your machine is on a remote server, you can access the visualizer by using its accessible IP address:

    http://<your-server-ip>:6080/vnc.html

  3. After you see the visualizer, you can start the autonomous driving simulation by following the planning simulation instructions in the Autoware documentation.

Stop the Deployment#

docker compose --env-file planning-simulation.env down